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EtherCAT Slave Goes To INIT Mode After Restart (Instead of OP Mode)

Folks,

My a slave in my EtherCAT network is power cycles, my network looses loses a lot of frames. The link detection is quick (which is why I loose so many frames), but it seems that my slave takes a while to fully connect to the network, causing the frame lose.

Also, I would like to know what known issue can cause my EtherCAT slave to stay in INIT mode, and not go to OP mode after a slave power cycle? Maybe this also has something to do with my network losing a lot of frames after a slave is power cycled.

Maybe my system is not loading an initializing the PRU firmware fast enough? Could it be that my slave bootup time is too long? (I added a 10 seconds timeout on my master, but I still got the same problem).